Development of Levee Weeding Robot

河堤除草机器人的研制

• 批准号: 11660252
• 负责人: TAKEDA Jun-ichi
• 金额: $ 2.37万
• 依托单位: Iwate University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11660252/
• 关键词: Levee; Weeding; Autonomous Vehicle; Image Processing; HSI Transform; Hough Transform; 自律走行; GPS

Most of the works for rice farming is now carried out by riding type agricultural machines such as tractors, rice planting machines, rice combines and so on. The levee weeding in rice farming is one of the remaining severe work in Japan. The purpose of this research work is carried out to develop levee weeding robot that works autonomously.The results of this research work are summarized as follows :1) The crawler type vehicle was selected for main body of the weeding robot. The near infrared beam type sensors are installed on the side of the vehicle to detect the shape of the levee and fiber optical gyroscope sensor was also installed to detect vehicle heading angle. The mower was installed in front of the vehicle.2) The navigation strategy was proposed. The turning angle of the vehicle was decided by using the deviation between the virtual focusing point in front of the vehide and referenced line that is the center line of the levee. The vehicle can be run to use turning and strait running repeatedly. The simulated and experimental results are almost the same by proving the proposed strategy.3) The machine vision analysis was applied to detect the edge of the levee. The image was taken from degital video camera and treated to filtering, then HSI transform was made to have binary image and linear regression line or Hough transform was made to detect the levee line. Hough transform was very effective to detect the levee line from complicated images even if there are a few strait points on the binary images.The GPS was effective for detecting the vehicle position except to use near tall trees surrounding the paddy field. The autonomous mowing procedure could not be in the process because of the delay of adjustment about the clutch. Then the project will be continuously carried out to find out the adaptability of the robot on the levee weeding.

现在大多数水稻耕作工作都是通过拖拉机、水稻播种机、水稻联合收割机等骑行式农业机械进行的。水稻种植中的堤防除草是日本剩余的艰巨工作之一。本文以自主工作的堤防除草机器人为研究对象，主要研究成果如下：1)选择履带式车辆作为除草机器人的主体。在车辆侧面安装了近红外波束式传感器来检测堤防的形状，还安装了光纤陀螺仪传感器来检测车辆的航向角度。将割草机安装在车辆前方。2)提出了导航策略。车辆的转角是利用车辆前方的虚拟聚焦点与基准线即堤防中心线之间的偏差来确定的。该车可重复使用转弯和直道行驶。3)将机器视觉分析应用于堤防边缘检测，仿真结果与实验结果基本一致。从数字摄像机采集的图像经过滤波处理后，进行HSI变换得到二值化图像，然后进行线性回归直线或Hough变换来检测堤防直线。Hough变换对检测复杂图像中的堤防线非常有效，即使在二值图像上有少量的直线点也是如此；GPS除了在稻田周围的高大树木附近使用外，对车辆位置的检测也是有效的。由于离合器调整的延迟，自动割草程序无法进行。然后继续进行项目，了解机器人对堤防除草的适应性。

项目成果

J. Takeda, S. Takahashi, R. Torisu, M. A. Ashraf: "Development of Levee Weeding Robot - Pathway Control System on the Strait Levee -"Proc. of the International Conference on Agricultural Machinery Engineering, (Seoul). 325-332 (2000)

J. Takeda、S. Takahashi、R. Torisu、M. A. Ashraf：“堤坝除草机器人的开发 - 海峡堤坝的路径控制系统 -”Proc。

M.A.Ashraf, J.Takeda, R.Torisu: "Pathway Control of Crawler-type Robot on the Levee"Proc. of the XIV Memorial CIGR World Congress 2000 (Tsukuba). 552-556 (2000)

M.A.Ashraf、J.Takeda、R.Torisu：“堤坝上履带式机器人的路径控制”Proc。

J.Takeda, S.Takahashi, R.Torisu, M.A.Ashraf: "Development of Levee Weeding Robot -Pathway Control System on the Strait Levee-"Proc. of the International Conference on Agricultural Machinery Engineering, (Seoul). 325-332 (2000)

J.Takeda，S.Takahashi，R.Torisu，M.A.Ashraf：“堤坝除草机器人的开发-海峡堤坝的路径控制系统-”Proc。